JP2904680B2 - Rolling control device for working unit in work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling control device for a working unit in a working vehicle such as a riding rice transplanter.

[0002]

2. Description of the Related Art In general,
In a working vehicle connected to this type of working unit, when the traveling machine body rolls due to unevenness of the field, inclination, obstacles, etc., the working unit also rolls integrally following the rolling, so that the field scene or There is an inconvenience that the working unit attitude with respect to the horizontal plane changes and the working accuracy is significantly reduced. Therefore, conventionally, a work unit is connected and supported in a freely rotatable manner, and the work unit is so-called free-rolling control that allows the work unit to be freely held by a rolling elastic machine to maintain a free attitude of the work unit. There is proposed a so-called forced rolling control for forcibly rolling a working section by an actuator operation based on detection of a horizontal sensor or the like. However, in the free rolling control, there is a limit to the amount of rolling that can be controlled.Therefore, in a field with severe unevenness, there is a drawback that the working unit follows the rolling of the traveling machine body and is greatly inclined. In this case, it is necessary to lower the control sensitivity in order to prevent a so-called hunting phenomenon peculiar to the automatic control and a malfunction due to a false detection, so that it is difficult to perform the control with a desired accuracy. As a result, any rolling control is sufficient. In fact, it was not possible to ensure work accuracy.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has as its object to provide a rolling control device for a working unit in a working vehicle which can eliminate these drawbacks. Then, while connecting the working unit to the traveling aircraft side via a rolling support shaft,
Between the traveling body side and the working section side, in a working traveling vehicle having a rolling elastic body for performing free rolling control of the working section, on the traveling body side, via a second rolling support shaft An armature mounting frame is connected, and the rolling ammunition is interposed between the armature mounting frame and the working unit side, and between the armature mounting frame and the traveling body side, based on the operation of the actuator. The present invention is characterized in that a forced rolling control mechanism for horizontally controlling a frame for mounting an ammunition is provided. And the present invention, by this configuration,
This is to make it possible to dramatically improve the accuracy of the rolling control.

[0004]

Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine of a riding type rice transplanter, and a planting work section 3 is connected to a rear portion of the traveling machine 1 via an elevating link mechanism 2 that operates to raise and lower hydraulic pressure. The planting work section 3 is rotatably supported by a link connecting frame 4 connected to a rear end of the lifting link mechanism 2 and a boss tube 4a formed at a lower end of the link connecting frame 4. A first rolling support shaft 5, a seedling mounting support frame 6, which is integrally connected to a rear end portion of the first rolling support 5, and which is substantially U-shaped in a front view, integrated with the seedling mounting support frame 6. , A planer case 7 having a substantially letter shape in plan view, a planter arm 8 provided at each rear end of the planter case 7, an upper end of the seedling support frame 6 and an upper portion of the planter case 7. The seedling mounting table 9 which is freely supported and is forcibly reciprocated left and right based on a lateral feeding action of a lateral feeding mechanism provided in the planter case 7, and swings up and down at the center of the bottom of the planter case 7 and on both left and right sides. Freely provided Is composed of centers float 10 and the side floats 11 and the like. That is, the planting work unit 3 moves the traveling body 1 (link connection frame 4)
In the planting operation state in which the first rolling support shaft 5 can be freely rolled with the fulcrum as a fulcrum and the buoyancy of the center float 10 and the side float 11 slides on the rice field, the planter arm 6 is adjusted to the planting timing. The seedlings to be planted are scraped from the seedling mounting table 9 fed side by side at a predetermined pitch and planted on the rice field. All of the above basic configurations are conventional.

[0005] Further, reference numeral 12 denotes the link connection frame 4.
The boss cylinder portion 12a formed at the lower end portion of the ammunition mounting frame 12 is provided at a position near the rear of the link connecting frame 4 from a position above the first rolling support shaft. A second rolling support shaft 13 protruding rearward is rotatably supported, so that the frame 12 is attached to the traveling body 1 (link connection frame 4) by a second rolling support. It is configured to be freely rollable with the shaft 13 as a fulcrum.

[0006] Reference numerals 14 and 15 denote a pair of left and right rolling ammunitions each comprising a coil ammunition. Of the rolling ammunition 14 and 15, the rolling ammunition 14 includes the above-mentioned ammunition mounting frame 12 and the seedling mounting. It is interposed between the table support frame 6 and the base support frame 6 to allow voluntary rolling of the planting work unit 3 by float buoyancy, while the other rolling bullet 15 is provided with a bullet mounting frame 12 and a seedling. It is interposed in a C-shape between it and the mounting table 9 so as to balance the unbalanced load accompanying the lateral feeding of the seedling mounting table 9. In other words, the so-called free rolling control mechanism is constituted by interposing the above-mentioned rolling machines 14, 15 between the machine mounting frame 12 and the planting work section 3 side.

On the other hand, reference numeral 16 denotes an electric cylinder, and the upper end of the electric cylinder 16 is connected to the link connecting frame 4.
The lower end is connected to an arm portion 12b projecting laterally from the frame 12 while being connected to an arm portion 4b projecting laterally from the armature. In other words, a so-called forced rolling control mechanism for forcibly rolling the planting work unit 3 (armature mounting frame 12) based on the expansion and contraction of the electric cylinder 16 is provided between the link connecting frame 4 and the armature mounting frame 12. It is configured.

Further, reference numeral 17 denotes a gravity sensor provided on the rear surface of the machine mounting frame 12 facing the seedling mounting table 9, and the gravity sensor 17 detects the horizontal of the machine mounting frame 12, It is configured to output the detected value to a cylinder control circuit (not shown). Then, in the cylinder control circuit, the electric cylinder 16 is rotated to roll the frame 12 against the detection of the gravity sensor 17.
By outputting an operation signal to the armature mounting frame 12, the horizontal position is always maintained regardless of the rolling of the traveling body 1.

Further, reference numeral 18 denotes a link connection frame 4.
A locking mechanism between the armature mounting frame 12 and the armature mounting frame 12.
An engaging bracket 21 provided on the side, the L-shaped provided in the link coupling frame 4 side Rotsukupureto 20 及
And a lock pin 19 integrated with the lock pin . The lock plate 20 is attached to the left and right side surfaces of the link connection frame 4 via a pair of bolts 22 penetrating through the elongated holes 20a so as to be slidable back and forth. When the lock plate 20 is fixed to the front non-lock position (fixed by bolts 22), the lock plate 20 is engaged with the lock pin 19.
Since the holes 21b of the bracket 21 do not engage, the rolling of the mounting frame 12 with respect to the link connecting frame 4 is allowed to perform the forced rolling control, while the locking plate 20 is moved to the locking position on the rear side. In the fixed state, the hole 21b of the engagement bracket 21 engages with the locking pin 19, so that the rolling of the machine mounting frame 12 with respect to the link connecting frame 4 is regulated to release the forced rolling control.

[0010] In the embodiment of the present invention configured as described above, the planting work unit 3 includes the traveling body 1 and the elevating link mechanism 2.
Is rotatably connected to the link connecting frame 4 via the first rolling support shaft 5 as a fulcrum. The mounting frame 12 is rotatably connected, and
While rolling ammunition machines 14 and 15 constituting a free rolling control mechanism are interposed between the planting work section 3 and the planting work section 3,
An electric cylinder 16 that constitutes a forced rolling mechanism is interposed between the frame 12 and the link connecting frame 4. In other words, the planting work unit 3 performs the forced rolling control for controlling the armature mounting frame 12 to be in the horizontal posture based on the expansion and contraction control of the electric cylinder 16 and the planting based on the elastic expansion and contraction of the rolling bullets 14 and 15. Rolling control is performed in a complex manner with free rolling control allowing the independent rolling of the working unit 3. Therefore, in comparison with the case where only the free rolling control is performed or the case where only the forced rolling control is performed, a large rolling control range can be ensured. As a result, even in a field with severe unevenness, the planting work unit 3 can be used. The rolling control is reliably performed, and the working accuracy can be significantly improved.

In addition, the forced rolling control is performed within the control range of the free rolling control because the control range of the free rolling control is always enabled by displacing the control range of the free rolling control according to the amount of rolling of the planting work section 3. If the sensitivity of the forced rolling control is reduced, the control accuracy does not decrease even if the sensitivity is reduced.As a result, the hunting phenomenon and the malfunction due to erroneous detection in the forced rolling control are prevented, and the control accuracy and smoothness of the rolling control are improved. Can be greatly improved.

[0012] Further, the machine mounting frame 12 is
Since it is configured to be supported on the link connection frame 4 via the second rolling support shaft 12 arranged in parallel with the first rolling support shaft 5, the conventional first rolling support shaft 5 and its peripheral structure can be inherited. Therefore, it is a new rolling control device, but it has the advantage that it can be easily designed, but there is a specification that performs free rolling control or forced rolling control independently and a specification that performs both rolling controls in combination In this case, there is an advantage that parts of both specifications can be made as common as possible.

[0013]

In summary, since the present invention is configured as described above, the rolling ammunition can be freely controlled by the rolling ammunition, while the rolling ammunition can be moved to the traveling machine side. While it is interposed between the working unit and the machine mounting frame connected via the two rolling spindles, between the machine mounting frame and the traveling machine side,
A forced rolling control mechanism that horizontally controls the frame for mounting the ammunition based on the operation of the actuator is provided,
For this reason, the working unit is subjected to composite rolling control based on the free rolling control and the forced rolling control. That is, since the rolling control range can be sufficiently secured as compared with the case where the free rolling control or the forced rolling control is performed alone, the problem that the control cannot be performed in a field with severe unevenness is eliminated, and the accuracy of the rolling control is significantly improved. Can be improved.

Moreover, the forced rolling control by the actuator acts to displace the control range of the free rolling control according to the rolling amount.
Allow free rolling control to be enabled regardless of the state of the field to enable fine-grained control, or reduce the sensitivity of forced rolling control without lowering control accuracy within the control range of free rolling control As a result, the hunting phenomenon in the forced rolling control and the malfunction due to the erroneous detection can be eliminated, and the control accuracy in the rolling control can be further improved.

[0015] Further, since the above-mentioned armature mounting frame is supported by the second rolling support shaft, the structure of the rolling support shaft for connecting the working unit to the traveling body side and its peripheral structure are inherited from the conventional one. Therefore, in the case where both the conventional specification in which the free rolling control or the forced rolling control is performed independently and the specification in which the two rolling controls are combinedly used as in the present invention coexist, In this case, parts of both specifications can be made as common as possible, which can greatly contribute to cost reduction.

[Brief description of the drawings]

FIG. 1 is a side view of a riding type rice transplanter.

FIG. 2 is a side view of a planting work section.

FIG. 3 is a front view of a main part of the same.

FIG. 4 is a sectional view of a main part of the above.

FIG. 5 is a side view of a main part showing a locking mechanism.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running body 2 Elevating link mechanism 3 Planting work part 4 Link connection frame 5 First rolling support shaft 12 Ammunition mounting frame 13 Second rolling support shaft 14 Rolling elastic machine 15 Rolling elastic machine 16 Electric cylinder 17 Gravity sensor 18 Lock mechanism

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hachiro Nakamura 667 Idai-cho, Oji-machi, Higashi-Izumo-cho, Yatsuka-gun, Shimane Prefecture Inside Mitsubishi Agricultural Machinery Co., Ltd. 667 No. 1 Mitsubishi Agricultural Machinery Co., Ltd. (56) References JP-A-1-252210 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) A01C 11/02 A01B 63/10

Claims (1)

(57) [Claims] 1. A working unit is connected to a traveling body side via a rolling support shaft, and a rolling elastic machine for performing free rolling control of the working unit is provided between the traveling body side and the working unit side. In the working traveling vehicle, an ammunition mounting frame is connected to the traveling body side via a second rolling support shaft, and the rolling ammunition is interposed between the ammunition mounting frame and the working section side. On the other hand, a forced rolling control mechanism for horizontally controlling the armature mounting frame based on the operation of the actuator is interposed between the armature mounting frame and the traveling body side. Rolling control device.